CN116691667A - Vehicle driving track planning method and device, vehicle and storage medium - Google Patents
Vehicle driving track planning method and device, vehicle and storage medium Download PDFInfo
- Publication number
- CN116691667A CN116691667A CN202310912555.2A CN202310912555A CN116691667A CN 116691667 A CN116691667 A CN 116691667A CN 202310912555 A CN202310912555 A CN 202310912555A CN 116691667 A CN116691667 A CN 116691667A
- Authority
- CN
- China
- Prior art keywords
- obstacle
- vehicle
- track
- potential energy
- grid
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000005381 potential energy Methods 0.000 claims abstract description 159
- 230000003068 static effect Effects 0.000 claims abstract description 61
- 230000004888 barrier function Effects 0.000 claims abstract description 28
- 238000005036 potential barrier Methods 0.000 claims abstract description 7
- 230000035484 reaction time Effects 0.000 claims description 29
- 230000001133 acceleration Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 12
- 238000010276 construction Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000011156 evaluation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 241000287196 Asthenes Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle running track planning method, a vehicle running track planning device, a vehicle and a storage medium, wherein the vehicle running track planning method comprises the following steps: determining a track planning area of the grid map according to the current position of the vehicle, and constructing the grid map in the track planning area; acquiring barrier information, and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information; determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy; and planning the running track of the vehicle in the track planning area according to the candidate track score. The technical scheme of the invention improves the accuracy of the planned running track of the vehicle, further reduces the possibility of collision with obstacles when the vehicle runs according to the planned running track of the vehicle, reduces the collision risk of the vehicle, increases the intelligence and safety of the vehicle, and better ensures the running safety of the vehicle.
Description
Technical Field
The present invention relates to a vehicle control technology, and in particular, to a vehicle driving track planning method and apparatus, a vehicle, and a storage medium.
Background
The automatic driving system can automatically generate the vehicle running track of the vehicle according to the lane information and the vehicle state information of the vehicle, but the generated vehicle running track mainly considers the lane information and the vehicle state information of the vehicle, so that the generated vehicle running track is inaccurate, the risk of collision with an obstacle can occur when the vehicle runs according to the vehicle running track, and the vehicle running safety is reduced.
Disclosure of Invention
The embodiment of the invention provides a vehicle running track planning method, a vehicle running track planning device, a vehicle and a storage medium, which are used for improving the accuracy of the planned vehicle running track, reducing the possibility of collision with obstacles, reducing the collision risk of the vehicle, increasing the intelligence and safety of the vehicle and better guaranteeing the running safety of the vehicle.
In a first aspect, an embodiment of the present invention provides a method for planning a driving track of a vehicle, including:
determining a track planning area of a grid map according to the current position of a vehicle, and constructing the grid map in the track planning area;
acquiring barrier information, and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information;
Determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
and planning the running track of the vehicle in the track planning area according to the candidate track score.
In a second aspect, an embodiment of the present invention provides a driving track planning apparatus for a vehicle, including:
the map construction module is used for determining a track planning area of the grid map according to the current position of the vehicle and constructing the grid map in the track planning area;
the potential energy calculation module is used for acquiring barrier information and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information;
the score determining module is used for determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
and the track planning module is used for planning the running track of the vehicle in the track planning area according to the candidate track score.
In a third aspect, an embodiment of the present invention further provides a vehicle, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the method for planning a driving track of the vehicle according to any one of the embodiments of the present invention when the processor executes the program.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for planning a driving trajectory of a vehicle according to any one of the embodiments of the present invention.
In the embodiment of the invention, a track planning area of a grid map is determined according to the current position of a vehicle, and the grid map is constructed in the track planning area; acquiring barrier information, and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information; determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy; and planning the running track of the vehicle in the track planning area according to the candidate track score. The method comprises the steps of determining a track planning area of a grid map according to the current position of a vehicle, constructing the grid map in the track planning area, calculating obstacle static potential energy and obstacle dynamic potential energy of each grid in the grid map according to acquired obstacle information, namely converting the influence of obstacles around the vehicle on the running track planning of the vehicle into the obstacle static potential energy and the obstacle dynamic potential energy, combining the obstacle static potential energy and the obstacle dynamic potential energy, determining candidate track running scores of each scattering point in the grid map more comprehensively and accurately, and finally planning the running track of the vehicle in the track planning area more accurately according to the candidate track scores, so that the accuracy of the planned running track of the vehicle is improved, the possibility of collision with the obstacle is reduced when the vehicle runs according to the planned running track of the vehicle, the collision risk of the vehicle is reduced, the intelligence and the safety of the vehicle are improved, and the running safety of the vehicle is better ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for planning a driving track of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of coordinates of a grid distance and obstacle static potential provided by an embodiment of the present invention;
fig. 3 is another flow chart of a method for planning a driving track of a vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a driving track planning apparatus for a vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.
It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those skilled in the art will appreciate that "one or more" is intended to be construed as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the devices in the embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of such messages or information.
In the following embodiments, optional features and examples are provided in each embodiment at the same time, and the features described in the embodiments may be combined to form multiple alternatives, and each numbered embodiment should not be considered as only one technical solution.
Referring to the following description of the method for planning a driving track of a vehicle according to the embodiment of the present invention, fig. 1 is a schematic flow chart of the method for planning a driving track of a vehicle according to the embodiment of the present invention, where the method may be executed by a device for planning a driving track of a vehicle according to the embodiment of the present invention, and the device may be implemented in a software and/or hardware manner. In a specific embodiment, the device may be integrated in a vehicle. The following embodiment will be described taking the example of the integration of the device in a vehicle, and referring to fig. 1, the method may specifically include the steps of:
and step 101, determining a track planning area of the grid map according to the current position of the vehicle, and constructing the grid map in the track planning area.
In an alternative embodiment, the vehicle attribute information, the vehicle state information and the reaction time length information of the vehicle may be determined according to the current position of the vehicle, then the track planning area of the grid map may be determined according to the vehicle attribute information, the vehicle state information and the reaction time length information, and the grid map may be constructed in the track planning area. The vehicle attribute information may be understood as characteristic information of a vehicle, the vehicle state information may be understood as running information during running of the vehicle, and the reaction duration information may be understood as duration information of a driver reacting when there is an obstacle around the vehicle.
Step 102, obtaining obstacle information, and calculating the obstacle static potential energy and the obstacle dynamic potential energy of each grid in the grid map according to the obstacle information.
The obstacle information may be understood as information of an obstacle in a grid map, and the obstacle information may include a grid distance from a grid point where the obstacle is located to a grid point where the vehicle is located and an obstacle critical distance. The grid distance from the grid point of the obstacle to the grid point of the vehicle can be understood as the nearest distance from the grid point of the obstacle to the grid point of the vehicle.
As shown in fig. 2, the horizontal axis is the grid distance, the vertical axis is the obstacle static potential energy, and the preset distance interval is [ l ] 1 ，l 2 [ MEANS FOR SOLVING PROBLEMS ], wherein l 1 0,l of a shape of 0,l 2 3, the grid distance is [ l ] within the preset distance interval 1 ，l 2 When the grid distance is not within the preset distance interval, the static potential energy of the obstacle is not zero 1 ，l 2 At the time of the item, obstacleThe static potential energy is zero. Thus, in an alternative embodiment, it is determined whether the grid distance belongs to a preset distance interval; when the grid distance belongs to a preset distance interval, determining a predicted distance according to the grid distance and the obstacle critical; calculating the static potential energy of the obstacle of each grid in the grid map according to the predicted distance and the potential energy parameter; and when the grid distance does not belong to the preset distance interval, determining that the static potential energy of the obstacle of each grid which does not belong to the preset distance interval in the grid map is zero.
Illustratively, the obstacle is located at a grid distance l from the vehicle located at the grid point qp The critical distance of the obstacle is l * The potential energy parameter is eta, and the preset distance interval is [ l ] 1 ，l 2 [ 1 ], at l 1 ＜l qp ＜l 2 When determining l qp Belonging to a preset distance interval; according to the grid distance l qp And obstacle critical l * Determining a predicted distance as Multiplying the predicted distance and the potential energy parameter to obtain that the static potential energy of the obstacle at the grid point p of the obstacle in the grid map to the grid point q of the vehicle isAt a grid distance l qp Not belonging to the preset distance interval [ l ] 1 ，l 2 When the method is performed, determining the obstacle static potential energy of each grid which does not belong to the preset distance interval in the grid map>
The obstacle information further comprises a predicted track of the obstacle, a predicted probability of the predicted track and a predicted time length of each track point in the predicted track.
In an alternative embodiment, the predicted distance may be determined according to the grid distance and the obstacle critical distance, and the obstacle position influence value may be determined according to the predicted probability of the predicted track and the predicted duration of each track point in the predicted track; and calculating the dynamic potential energy of the obstacle of each grid in the grid map according to the predicted distance, the potential energy parameter and the obstacle position influence value.
Illustratively, the grid distance is l qp The critical distance of the obstacle is l * The prediction probability of the predicted track is ρ, the prediction duration of the track point A is t, and the prediction duration is t according to the grid distance l qp And obstacle critical l * Determining a predicted distance asThen determining the influence value of the obstacle position as +. >Predicted distance +.>Potential energy parameter eta and obstacle position influence value +.>Multiplying to obtain obstacle dynamic potential energy of each grid in the grid map as +.>
And step 103, determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy.
In an alternative embodiment, the target potential energy of each grid in the grid map is determined according to the obstacle static potential energy and the obstacle dynamic potential energy, and then the candidate travel track score of each scattering point in the grid map is determined according to the target potential energy.
Illustratively, according to the obstacle static potential energyAnd obstacle dynamic potential energy->Determining target potential energy of grid point q in grid map>Candidate travel track scores for each of the scattering points in the grid map are then determined based on the target potential energy.
And 104, planning the running track of the vehicle in the track planning area according to the candidate track score.
In an alternative embodiment, the points at which the candidate trajectory score exceeds the preset score are determined as planned trajectory points of the travel trajectory of the vehicle.
For example, the preset score is S, the scattering points include a and B, the candidate track score of the scattering point a is S1, the candidate track score of the scattering point B is S2, where S1 is less than S, and S2 is greater than S, it may be determined that the candidate track score S2 of the scattering point B exceeds the preset score S, and the scattering point B having the candidate track score exceeding the preset score is determined as the planned track point of the running track of the vehicle.
According to the embodiment of the invention, the track planning area of the grid map is determined according to the current position of the vehicle, the grid map is constructed in the track planning area, the obstacle static potential energy and the obstacle dynamic potential energy of each grid in the grid map are calculated according to the acquired obstacle information, namely, the influence of the surrounding obstacles of the vehicle on the running track planning of the vehicle is converted into the obstacle static potential energy and the obstacle dynamic potential energy, the candidate track running score of each scattering point in the grid map is more comprehensively and accurately determined by combining the obstacle static potential energy and the obstacle dynamic potential energy, and finally the running track of the vehicle in the track planning area is more accurately planned according to the candidate track score, so that the accuracy of the running track of the planned vehicle is improved, the possibility of collision with the obstacle is reduced when the vehicle runs according to the running track of the planned vehicle, the collision risk of the vehicle is reduced, the intelligence and the safety of the vehicle are increased, and the running safety of the vehicle is better ensured.
In some embodiments, the obstacle information may further include an obstacle pointing direction, an obstacle lateral average speed, an obstacle longitudinal average speed, an obstacle lateral acceleration, and an obstacle longitudinal acceleration, calculating an obstacle kinetic potential of each grid in the grid map from the obstacle information, including: when the obstacle points to be transverse, calculating the obstacle dynamic potential energy of each grid in the grid map according to the obstacle transverse average speed, the obstacle transverse acceleration and the preset safety duration; when the obstacle points to be longitudinal, according to the longitudinal average speed, the longitudinal acceleration and the preset safety duration of the obstacle, the dynamic potential energy of the obstacle of each grid in the grid map is calculated, so that uncertainty of the running of the obstacle to the transverse direction and the longitudinal direction of the vehicle can be considered in the running track planning of the vehicle when the track of the obstacle prediction is not available, and the comprehensiveness and the accuracy of the running track planning of the vehicle are improved.
Illustratively, the obstacle has a lateral average velocity v s Mean speed v of obstacle longitudinal direction d Lateral acceleration of obstacle a s And obstacle longitudinal acceleration a d When the obstacle is pointed to be transverse, according to the prediction probability rho of the prediction track and the transverse average speed v of the obstacle s Lateral acceleration of obstacle a s And presetting a safety duration tau, and determining that the dynamic potential energy of the obstacle of each grid in the grid map isWhen the obstacle points to be longitudinal, calculating the dynamic potential energy of the obstacle of each grid in the grid map as follows according to the average speed, the longitudinal acceleration and the preset safety duration of the obstacle
The following further describes a method for planning a driving track of a vehicle according to an embodiment of the present invention, and fig. 3 is another flow chart of the method for planning a driving track of a vehicle according to an embodiment of the present invention. As shown in fig. 3, the method specifically includes the following steps:
step 201, determining vehicle attribute information, vehicle state information and reaction time length information of the vehicle according to the current position of the vehicle.
Step 202, determining a track planning area of the grid map according to the vehicle attribute information, the vehicle state information and the reaction time length information, and constructing the grid map in the track planning area.
In an alternative embodiment, the vehicle attribute information may include a front attention length when the vehicle is stationary, a rear attention length when the vehicle is stationary, and a vehicle lateral attention length, the vehicle state information includes a vehicle speed, and the reaction time period information includes a front reaction time period when there is an obstacle in front of the vehicle and a rear reaction time period when there is an obstacle behind the vehicle.
In an alternative embodiment, the track plan forward length is determined based on the forward length of interest, the vehicle speed, and the forward reaction time period, and the track plan rearward length is determined based on the rearward length of interest, the vehicle speed, and the rearward reaction time period; determining the sum of the length of the track planning front side and the length of the track planning rear side as the track planning length, and determining the vehicle transverse attention length as the track planning width; and determining the area contained by the track planning length and the track planning width as a track planning area.
Illustratively, the front attention length of the vehicle at rest is a 1 Rear attention length of vehicle at rest is a 2 And a vehicle transverse attention length of a trans The vehicle state information is the vehicle speed v, and the front reaction time length when the obstacle is in front of the vehicle is t 1 And the rear reaction time length is t when the vehicle is provided with an obstacle behind 2 According to the front attention length a 1 Vehicle speed v and forward reaction time t 1 Determining the forward length of the track planning as s front ＝a 1 +v*t 1 And according to the rear attention length a 2 Vehicle speed v and rear reaction time t 2 Determining a track planning rear length s back ＝a 2 +v*t 2 The method comprises the steps of carrying out a first treatment on the surface of the Sum s=s of the length of the track planning front length and the length of the track planning rear length front +s back Determine as the planned length of the track and pay attention to the length a of the vehicle transverse direction trans Determining a planning width w for the track; and determining the area contained by the track planning length and the track planning width as a track planning area.
Step 203, obtaining obstacle information.
Step 204, determining whether the grid distance belongs to a preset distance interval, and executing step 205 when the grid distance belongs to the preset distance interval; when the grid distance does not belong to the preset distance interval, step 207 is performed.
Step 205, determining a predicted distance according to the grid distance and the obstacle threshold.
Step 206, calculating the obstacle static potential energy of each grid in the grid map according to the predicted distance and the potential energy parameter.
After step 206 is performed, step 208 is performed.
Step 207, determining that the obstacle static potential energy of each grid in the grid map, which does not belong to the preset distance interval, is zero.
And step 208, determining a predicted distance according to the grid distance and the obstacle critical distance, and determining an obstacle position influence value according to the predicted probability of the predicted track and the predicted duration of each track point in the predicted track.
Step 209, calculating the obstacle dynamic potential energy of each grid in the grid map according to the predicted distance, the potential energy parameter and the obstacle position influence value.
Step 210, determining target potential energy of each grid in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy.
In an alternative embodiment, the potential energy weighting process is performed on the obstacle static potential energy and the obstacle dynamic potential energy to obtain the target potential energy of each grid in the grid map.
For example, the obstacle static potential energy weight coefficient is a, the obstacle dynamic potential energy weight coefficient is b, and the potential energy weighting process is performed on the obstacle static potential energy and the obstacle dynamic potential energy to obtain the target potential energy of the grid where the grid point q in the grid map is located as
Step 211, determining candidate driving track scores of all scattering points in the grid map according to the target potential energy.
In an alternative embodiment, the target potential energy may be added to the candidate trajectory score evaluation function to calculate a candidate travel trajectory score for each of the points in the grid map.
Illustratively, the candidate trajectory score evaluation function is f (x), and the target potential of the scattering point B isThe candidate travel locus score of the scattering point B is +.>That is, the candidate travel track score of the scattering point B is
Alternatively, if the scattering point is located on a common edge of two grids, or the scattering point is located on a common point of a plurality of adjacent grids, the target potential energy of the scattering point may be determined by using an extremum method or a mean method.
Illustratively, the scattering point B is located on a common edge of the grids 1 and 2, and the target potential of the grid 1 isThe target potential of the grid 2 is +.>Wherein (1)>The maximum potential energy can be determined>For the target potential of the scattering point B, or the average value of the potential of the grids 1 and 2 +.>The target potential energy of the scattering point B is determined.
And 212, determining the scattering points with the candidate track scores exceeding the preset scores as planned track points of the running track of the vehicle.
According to the embodiment of the invention, the track planning area of the grid map is determined according to the current position of the vehicle, the grid map is constructed in the track planning area, the obstacle static potential energy and the obstacle dynamic potential energy of each grid in the grid map are calculated according to the acquired obstacle information, namely, the influence of the surrounding obstacles of the vehicle on the running track planning of the vehicle is converted into the obstacle static potential energy and the obstacle dynamic potential energy, the candidate track running score of each scattering point in the grid map is more comprehensively and accurately determined by combining the obstacle static potential energy and the obstacle dynamic potential energy, and finally the running track of the vehicle in the track planning area is more accurately planned according to the candidate track score, so that the accuracy of the running track of the planned vehicle is improved, the possibility of collision with the obstacle is reduced when the vehicle runs according to the running track of the planned vehicle, the collision risk of the vehicle is reduced, the intelligence and the safety of the vehicle are increased, and the running safety of the vehicle is better ensured.
Fig. 4 is a schematic structural diagram of a driving track planning apparatus for a vehicle according to an embodiment of the present invention, where the apparatus is adapted to execute the driving track planning method for a vehicle according to the embodiment of the present invention. As shown in fig. 4, the apparatus may specifically include:
the map construction module 401 is configured to determine a track planning area of a grid map according to a current position of a vehicle, and construct the grid map in the track planning area;
the potential energy calculation module 402 is configured to obtain obstacle information, and calculate an obstacle static potential energy and an obstacle dynamic potential energy of each grid in the grid map according to the obstacle information;
a score determining module 403, configured to determine a candidate driving track score of each scattering point in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
and the track planning module 404 is configured to plan a driving track of the vehicle in the track planning area according to the candidate track score.
Optionally, the score determining module 403 is specifically configured to:
determining target potential energy of each grid in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
And determining candidate driving track scores of all the scattering points in the grid map according to the target potential energy.
Optionally, the score determining module 403 determines a target potential of each grid in the grid map according to the obstacle static potential and the obstacle dynamic potential, including:
and carrying out potential energy weighting treatment on the obstacle static potential energy and the obstacle dynamic potential energy to obtain target potential energy of each grid in the grid map.
Optionally, the trajectory planning module 404 is specifically configured to:
and determining the scattering points with the candidate track scores exceeding the preset scores as planned track points of the running track of the vehicle.
Optionally, the obstacle information includes a grid distance from a grid point where the obstacle is located to the grid point where the vehicle is located and an obstacle critical distance, and the potential energy calculating module 402 calculates, according to the obstacle information, an obstacle static potential energy of each grid in the grid map, including:
determining whether the grid distance belongs to a preset distance interval;
when the grid distance belongs to a preset distance interval, determining a predicted distance according to the grid distance and the obstacle critical;
Calculating the static potential energy of the obstacle of each grid in the grid map according to the predicted distance and the potential energy parameter;
and when the grid distance does not belong to the preset distance section, determining that the static potential energy of the obstacle of each grid which does not belong to the preset distance section in the grid map is zero.
Optionally, the obstacle information further includes a predicted trajectory of the obstacle, a predicted probability of the predicted trajectory, and a predicted duration of each trajectory point in the predicted trajectory, and the potential energy calculating module 402 calculates, according to the obstacle information, an obstacle dynamic potential energy of each grid in the grid map, including:
determining the predicted distance according to the grid distance and the obstacle critical distance, and determining an obstacle position influence value according to the predicted probability of the predicted track and the predicted duration of each track point in the predicted track;
and calculating the obstacle dynamic potential energy of each grid in the grid map according to the predicted distance, the potential energy parameter and the obstacle position influence value.
Optionally, the obstacle information further includes an obstacle pointing direction, a predicted probability of a predicted trajectory of the obstacle, an obstacle lateral average speed, an obstacle longitudinal average speed, an obstacle lateral acceleration, and an obstacle longitudinal acceleration, and the potential energy calculating module 402 calculates an obstacle dynamic potential energy of each grid in the grid map according to the obstacle information, including:
When the obstacle is pointed transversely, calculating the obstacle dynamic potential energy of each grid in the grid map according to the prediction probability of the predicted track of the obstacle, the transverse average speed of the obstacle, the transverse acceleration of the obstacle and the preset safety duration;
and when the obstacle points to be longitudinal, calculating the dynamic potential energy of the obstacle of each grid in the grid map according to the predicted probability of the predicted track of the obstacle, the longitudinal average speed of the obstacle, the longitudinal acceleration of the obstacle and the preset safety duration.
Optionally, the map construction module 401 determines a track planning area of the grid map according to the current position of the vehicle, including:
determining vehicle attribute information, vehicle state information and reaction time length information of the vehicle according to the current position of the vehicle;
and determining a track planning area of the grid map according to the vehicle attribute information, the vehicle state information and the reaction time length information.
Optionally, the vehicle attribute information includes a front attention length when the vehicle is stationary, a rear attention length when the vehicle is stationary, and a vehicle lateral attention length, the vehicle state information includes a vehicle speed, the reaction time length information includes a front reaction time length when an obstacle is present in front of the vehicle and a rear reaction time length when an obstacle is present behind the vehicle, and the map construction module 401 determines a trajectory planning area of the grid map according to the vehicle attribute information, the vehicle state information, and the reaction time length information, and includes:
Determining a track planning front length according to the front attention length, the vehicle speed and the front reaction time length, and determining a track planning rear length according to the rear attention length, the vehicle speed and the rear reaction time length;
determining a sum of the length of the track plan forward and the length of the track plan rear as a track plan length, and determining the vehicle lateral attention length as a track plan width;
and determining the area contained in the track planning length and the track planning width as the track planning area.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working process of the functional module described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein.
According to the device provided by the embodiment of the invention, the track planning area of the grid map is determined according to the current position of the vehicle, the grid map is constructed in the track planning area, the obstacle static potential energy and the obstacle dynamic potential energy of each grid in the grid map are calculated according to the acquired obstacle information, namely, the influence of the surrounding obstacles of the vehicle on the running track planning of the vehicle is converted into the obstacle static potential energy and the obstacle dynamic potential energy, the candidate track running score of each scattering point in the grid map is more comprehensively and accurately determined by combining the obstacle static potential energy and the obstacle dynamic potential energy, and finally the running track of the vehicle in the track planning area is more accurately planned according to the candidate track score, so that the accuracy of the running track of the planned vehicle is improved, the possibility of collision with the obstacle is reduced when the vehicle runs according to the running track of the planned vehicle, the collision risk of the vehicle is reduced, the intelligence and the safety of the vehicle are increased, and the running safety of the vehicle is better ensured.
The embodiment of the invention also provides a vehicle, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the running track planning method of the vehicle provided by any embodiment is realized when the processor executes the program.
The embodiment of the invention also provides a computer readable medium, on which a computer program is stored, the program when executed by a processor implementing the method for planning a running track of a vehicle provided by any of the above embodiments.
Referring now to fig. 5, a schematic structural diagram of a vehicle 600 suitable for use in implementing an embodiment of the present invention is shown. The vehicle in the embodiment of the present invention may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), an in-vehicle terminal (e.g., an in-vehicle navigation terminal), etc., and a stationary terminal such as a digital TV, a desktop computer, etc. The vehicle illustrated in fig. 5 is merely an example, and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.
As shown in fig. 5, the vehicle 600 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 601 that may perform various appropriate actions and processes according to programs stored in a Read Only Memory (ROM) 602 or programs loaded from a storage device 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the vehicle 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
In general, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, and the like; an output device 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, magnetic tape, hard disk, etc.; and a communication device 609. The communication device 609 may allow the vehicle 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 shows a vehicle 600 having various devices, it is to be understood that not all of the illustrated devices are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via communication means 609, or from storage means 608, or from ROM 602. The above-described functions defined in the method of the embodiment of the present invention are performed when the computer program is executed by the processing means 601. The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules and/or units involved in the embodiments of the present invention may be implemented in software, or may be implemented in hardware. The described modules and/or units may also be provided in a processor, e.g., may be described as: a processor includes a map construction module, a potential energy calculation module, a score determination module, and a trajectory planning module. The names of these modules do not constitute a limitation on the module itself in some cases.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include: determining a track planning area of the grid map according to the current position of the vehicle, and constructing the grid map in the track planning area; acquiring barrier information, and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information; determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy; and planning the running track of the vehicle in the track planning area according to the candidate track score.
According to the technical scheme of the embodiment of the invention, the track planning area of the grid map is determined according to the current position of the vehicle, the grid map is constructed in the track planning area, the obstacle static potential energy and the obstacle dynamic potential energy of each grid in the grid map are calculated according to the acquired obstacle information, namely, the influence of the surrounding obstacles on the running track planning of the vehicle is converted into the obstacle static potential energy and the obstacle dynamic potential energy, the candidate track running score of each scattering point in the grid map is more comprehensively and accurately determined by combining the obstacle static potential energy and the obstacle dynamic potential energy, and finally the running track of the vehicle in the track planning area is more accurately planned according to the candidate track score, so that the possibility of collision with the obstacle is reduced when the vehicle runs according to the running track of the planned vehicle, the collision risk of the vehicle is reduced, the intelligence and the safety of the vehicle are increased, and the running safety of the vehicle is better ensured.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (12)
1. A method of planning a travel path of a vehicle, the method comprising:
determining a track planning area of a grid map according to the current position of a vehicle, and constructing the grid map in the track planning area;
acquiring barrier information, and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information;
determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
and planning the running track of the vehicle in the track planning area according to the candidate track score.
2. The method of claim 1, wherein the determining candidate travel track scores for each of the scattering points in the grid map from the obstacle static potential energy and the obstacle dynamic potential energy comprises:
Determining target potential energy of each grid in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
and determining candidate driving track scores of all the scattering points in the grid map according to the target potential energy.
3. The method of claim 2, wherein the determining the target potential energy for each grid in the grid map from the obstacle and obstacle kinetic potentials comprises:
and carrying out potential energy weighting treatment on the obstacle static potential energy and the obstacle dynamic potential energy to obtain target potential energy of each grid in the grid map.
4. The method of claim 1, wherein the planning the travel track of the vehicle within the track planning region from the candidate track score comprises:
and determining the scattering points with the candidate track scores exceeding the preset scores as planned track points of the running track of the vehicle.
5. The method of claim 1, wherein the obstacle information includes a grid distance from a grid point where the obstacle is located to the grid point where the vehicle is located and an obstacle critical distance, and the calculating the obstacle static potential of each grid in the grid map according to the obstacle information includes:
Determining whether the grid distance belongs to a preset distance interval;
when the grid distance belongs to a preset distance interval, determining a predicted distance according to the grid distance and the obstacle critical;
calculating the static potential energy of the obstacle of each grid in the grid map according to the predicted distance and the potential energy parameter;
and when the grid distance does not belong to the preset distance section, determining that the static potential energy of the obstacle of each grid which does not belong to the preset distance section in the grid map is zero.
6. The method of claim 5, wherein the obstacle information further comprises a predicted trajectory of the obstacle, a predicted probability of the predicted trajectory, a predicted time period for each trajectory point in the predicted trajectory, the calculating obstacle kinetic potential energy for each grid in the grid map from the obstacle information comprising:
determining the predicted distance according to the grid distance and the obstacle critical distance, and determining an obstacle position influence value according to the predicted probability of the predicted track and the predicted duration of each track point in the predicted track;
and calculating the obstacle dynamic potential energy of each grid in the grid map according to the predicted distance, the potential energy parameter and the obstacle position influence value.
7. The method of claim 1, wherein the obstacle information further comprises an obstacle pointing direction, a predicted probability of a predicted trajectory of the obstacle, an obstacle lateral average speed, an obstacle longitudinal average speed, an obstacle lateral acceleration, and an obstacle longitudinal acceleration, the calculating an obstacle kinetic potential energy of each grid in the grid map from the obstacle information comprising:
when the obstacle is pointed transversely, calculating the obstacle dynamic potential energy of each grid in the grid map according to the prediction probability of the predicted track of the obstacle, the transverse average speed of the obstacle, the transverse acceleration of the obstacle and the preset safety duration;
and when the obstacle points to be longitudinal, calculating the dynamic potential energy of the obstacle of each grid in the grid map according to the predicted probability of the predicted track of the obstacle, the longitudinal average speed of the obstacle, the longitudinal acceleration of the obstacle and the preset safety duration.
8. The method of claim 1, wherein the determining the trajectory planning region of the grid map from the current location of the vehicle comprises:
Determining vehicle attribute information, vehicle state information and reaction time length information of the vehicle according to the current position of the vehicle;
and determining a track planning area of the grid map according to the vehicle attribute information, the vehicle state information and the reaction time length information.
9. The method according to claim 8, wherein the vehicle attribute information includes a front attention length when the vehicle is stationary, a rear attention length when the vehicle is stationary, and a vehicle lateral attention length, the vehicle state information includes a vehicle speed, the reaction time length information includes a front reaction time length when the vehicle is in front of an obstacle, and a rear reaction time length when the vehicle is behind an obstacle, and the determining the trajectory planning area of the grid map based on the vehicle attribute information, the vehicle state information, and the reaction time length information includes:
determining a track planning front length according to the front attention length, the vehicle speed and the front reaction time length, and determining a track planning rear length according to the rear attention length, the vehicle speed and the rear reaction time length;
Determining a sum of the length of the track plan forward and the length of the track plan rear as a track plan length, and determining the vehicle lateral attention length as a track plan width;
and determining the area contained in the track planning length and the track planning width as the track planning area.
10. A travel path planning apparatus of a vehicle, characterized by comprising:
the map construction module is used for determining a track planning area of the grid map according to the current position of the vehicle and constructing the grid map in the track planning area;
the potential energy calculation module is used for acquiring barrier information and calculating barrier static potential energy and barrier dynamic potential energy of each grid in the grid map according to the barrier information;
the score determining module is used for determining candidate driving track scores of all scattering points in the grid map according to the obstacle static potential energy and the obstacle dynamic potential energy;
and the track planning module is used for planning the running track of the vehicle in the track planning area according to the candidate track score.
11. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method for planning the path of travel of a vehicle according to any one of claims 1 to 9 when executing the program.
12. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the travel track planning method of a vehicle according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310912555.2A CN116691667A (en) | 2023-07-24 | 2023-07-24 | Vehicle driving track planning method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310912555.2A CN116691667A (en) | 2023-07-24 | 2023-07-24 | Vehicle driving track planning method and device, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116691667A true CN116691667A (en) | 2023-09-05 |
Family
ID=87829518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310912555.2A Pending CN116691667A (en) | 2023-07-24 | 2023-07-24 | Vehicle driving track planning method and device, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116691667A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007287168A (en) * | 2007-06-11 | 2007-11-01 | Toshiba Corp | Method for simulating traffic flow |
| CN106926844A (en) * | 2017-03-27 | 2017-07-07 | 西南交通大学 | A kind of dynamic auto driving lane-change method for planning track based on real time environment information |
| CN107992050A (en) * | 2017-12-20 | 2018-05-04 | 广州汽车集团股份有限公司 | Pilotless automobile local path motion planning method and device |
| CN110550029A (en) * | 2019-08-12 | 2019-12-10 | 华为技术有限公司 | obstacle avoiding method and device |
| US20200330159A1 (en) * | 2019-04-22 | 2020-10-22 | Beihang University | Path planning method with artificial potential field based on obstacle classification and medical system for steering flexible needle |
| CN112859866A (en) * | 2021-01-18 | 2021-05-28 | 西安电子科技大学 | Robot rolling path planning method, system, storage medium, equipment and application |
| CN112904842A (en) * | 2021-01-13 | 2021-06-04 | 中南大学 | Mobile robot path planning and optimizing method based on cost potential field |
| CN113525375A (en) * | 2020-04-21 | 2021-10-22 | 郑州宇通客车股份有限公司 | Vehicle lane changing method and device based on artificial potential field method |
| CN113985875A (en) * | 2021-10-27 | 2022-01-28 | 福州大学 | Artificial potential field unmanned vehicle dynamic path planning method based on collision prediction model |
| CN114166235A (en) * | 2021-12-06 | 2022-03-11 | 福建工程学院 | Global dynamic smooth path planning method based on optimized A-STAR algorithm |
-
2023
- 2023-07-24 CN CN202310912555.2A patent/CN116691667A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007287168A (en) * | 2007-06-11 | 2007-11-01 | Toshiba Corp | Method for simulating traffic flow |
| CN106926844A (en) * | 2017-03-27 | 2017-07-07 | 西南交通大学 | A kind of dynamic auto driving lane-change method for planning track based on real time environment information |
| CN107992050A (en) * | 2017-12-20 | 2018-05-04 | 广州汽车集团股份有限公司 | Pilotless automobile local path motion planning method and device |
| US20200330159A1 (en) * | 2019-04-22 | 2020-10-22 | Beihang University | Path planning method with artificial potential field based on obstacle classification and medical system for steering flexible needle |
| CN110550029A (en) * | 2019-08-12 | 2019-12-10 | 华为技术有限公司 | obstacle avoiding method and device |
| CN113525375A (en) * | 2020-04-21 | 2021-10-22 | 郑州宇通客车股份有限公司 | Vehicle lane changing method and device based on artificial potential field method |
| CN112904842A (en) * | 2021-01-13 | 2021-06-04 | 中南大学 | Mobile robot path planning and optimizing method based on cost potential field |
| CN112859866A (en) * | 2021-01-18 | 2021-05-28 | 西安电子科技大学 | Robot rolling path planning method, system, storage medium, equipment and application |
| CN113985875A (en) * | 2021-10-27 | 2022-01-28 | 福州大学 | Artificial potential field unmanned vehicle dynamic path planning method based on collision prediction model |
| CN114166235A (en) * | 2021-12-06 | 2022-03-11 | 福建工程学院 | Global dynamic smooth path planning method based on optimized A-STAR algorithm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11318942B2 (en) | Travel speed control method, apparatus, computing device, and storage medium | |
| US20140330515A1 (en) | System and Method for Gesture-Based Point of Interest Search | |
| CN112001287B (en) | Point cloud information generation method and device for obstacle, electronic equipment and medium | |
| CN110654381B (en) | Method and device for controlling a vehicle | |
| CN107992036B (en) | Method and device for planning vehicle access path in intelligent parking garage and storage medium | |
| CN112918487B (en) | Unmanned vehicle starting method and device, electronic equipment and computer readable medium | |
| CN112700636A (en) | Method and apparatus for updating information | |
| CN111098842B (en) | Vehicle speed control method and related equipment | |
| CN112885146A (en) | Vehicle early warning method and device, computer equipment and storage medium | |
| CN112558036B (en) | Method and device for outputting information | |
| CN116088538B (en) | Vehicle track information generation method, device, equipment and computer readable medium | |
| CN116691667A (en) | Vehicle driving track planning method and device, vehicle and storage medium | |
| CN112649011A (en) | Vehicle obstacle avoidance method, device, equipment and computer readable medium | |
| CN110321854B (en) | Method and apparatus for detecting target object | |
| JP2021047168A (en) | Method and device for processing information | |
| CN113320544B (en) | Vehicle driving behavior planning method and device, electronic equipment and storage medium | |
| CN115565374A (en) | Logistics vehicle driving optimization method and device, electronic equipment and readable storage medium | |
| CN112598897B (en) | Traffic participant behavior detection method, device, electronic equipment and medium | |
| CN115131525B (en) | Curb detection method | |
| CN113650616B (en) | Vehicle behavior prediction method and system based on collected data | |
| CN117542205B (en) | Lane guiding method, device, equipment and storage medium | |
| CN116118784B (en) | Vehicle control method, apparatus, electronic device, and computer-readable medium | |
| CN109916426B (en) | Guide arrow drawing method, device, equipment and medium | |
| CN112560548B (en) | Method and device for outputting information | |
| CN117389278A (en) | Track generation method, device and equipment and automatic driving vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |